Public Member Functions | Private Member Functions | Private Attributes
rviz::OrbitCamera Class Reference

An orbital camera, controlled by yaw, pitch, distance, and focal point. More...

#include <orbit_camera.h>

Inheritance diagram for rviz::OrbitCamera:
Inheritance graph
[legend]

List of all members.

Public Member Functions

virtual void fromString (const std::string &str)
 Loads the camera's configure from the supplied string (generated through toString())
float getDistance ()
const Ogre::Vector3getFocalPoint ()
virtual Ogre::Quaternion getOrientation ()
 Get the orientation of this camera.
float getPitch ()
virtual Ogre::Vector3 getPosition ()
 Get the position of this camera.
float getYaw ()
virtual void lookAt (const Ogre::Vector3 &point)
 Point the camera at the specified point.
virtual void mouseLeftDown (int x, int y)
virtual void mouseLeftDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
 Handle a left mouse button drag.
virtual void mouseLeftUp (int x, int y)
virtual void mouseMiddleDown (int x, int y)
virtual void mouseMiddleDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
 Handle a middle mouse button drag.
virtual void mouseMiddleUp (int x, int y)
virtual void mouseRightDown (int x, int y)
virtual void mouseRightDrag (int diff_x, int diff_y, bool ctrl, bool alt, bool shift)
 Handle a right mouse button drag.
virtual void mouseRightUp (int x, int y)
virtual void move (float x, float y, float z)
 Move the camera relative to its orientation.
 OrbitCamera (Ogre::SceneManager *scene_manager)
virtual void pitch (float angle)
 Pitch the camera.
virtual void roll (float angle)
 Roll the camera.
virtual void scrollWheel (int diff, bool ctrl, bool alt, bool shift)
 Handle a scrollwheel change.
void setFocalPoint (const Ogre::Vector3 &focal_point)
 Set the focal point of the camera. Keeps the pitch/yaw/distance the same.
virtual void setFrom (CameraBase *camera)
 Set the position/orientation of this camera from another camera.
virtual void setOrientation (float x, float y, float z, float w)
 Set the orientation of the camera from a quaternion.
virtual void setPosition (float x, float y, float z)
 Set the position of the camera.
virtual std::string toString ()
 Returns a string representation of the camera's configuration.
virtual void update ()
 Calculates the camera's position and orientation from the yaw, pitch, distance and focal point.
virtual void yaw (float angle)
 Yaw the camera.
void zoom (float amount)
 Move in/out from the focal point, ie. adjust distance_ by amount.
virtual ~OrbitCamera ()

Private Member Functions

void calculatePitchYawFromPosition (const Ogre::Vector3 &position)
 Calculates pitch and yaw values given a new position and the current focal point.
Ogre::Vector3 getGlobalFocalPoint ()
void normalizePitch ()
 Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down)
void normalizeYaw ()
 Normalizes the camera's yaw in the range [0, 2*pi)

Private Attributes

float distance_
 The camera's distance from the focal point.
Ogre::Vector3 focal_point_
 The camera's focal point.
Shapefocal_point_object_
float pitch_
 The camera's pitch (rotation around the x-axis), in radians.
float yaw_
 The camera's yaw (rotation around the y-axis), in radians.

Detailed Description

An orbital camera, controlled by yaw, pitch, distance, and focal point.

This camera is based on the equation of a sphere in spherical coordinates:

 x = d*cos(theta)sin(phi)
 y = d*cos(phi)
 z = d*sin(theta)sin(phi)
 

Where:
d = distance_
theta = yaw_
phi = pitch_

Definition at line 62 of file orbit_camera.h.


Constructor & Destructor Documentation

rviz::OrbitCamera::OrbitCamera ( Ogre::SceneManager *  scene_manager)

Definition at line 53 of file orbit_camera.cpp.

Definition at line 68 of file orbit_camera.cpp.


Member Function Documentation

Calculates pitch and yaw values given a new position and the current focal point.

Parameters:
positionPosition to calculate the pitch/yaw for

Definition at line 163 of file orbit_camera.cpp.

void rviz::OrbitCamera::fromString ( const std::string &  str) [virtual]

Loads the camera's configure from the supplied string (generated through toString())

Parameters:
strThe string to load from

Implements rviz::CameraBase.

Definition at line 344 of file orbit_camera.cpp.

float rviz::OrbitCamera::getDistance ( ) [inline]

Definition at line 81 of file orbit_camera.h.

Definition at line 82 of file orbit_camera.h.

Definition at line 95 of file orbit_camera.cpp.

Ogre::Quaternion rviz::OrbitCamera::getOrientation ( ) [virtual]

Get the orientation of this camera.

Returns:
The orientation of this camera

Implements rviz::CameraBase.

Definition at line 158 of file orbit_camera.cpp.

float rviz::OrbitCamera::getPitch ( ) [inline]

Definition at line 79 of file orbit_camera.h.

Get the position of this camera.

Returns:
The position of this camera

Implements rviz::CameraBase.

Definition at line 153 of file orbit_camera.cpp.

float rviz::OrbitCamera::getYaw ( ) [inline]

Definition at line 80 of file orbit_camera.h.

void rviz::OrbitCamera::lookAt ( const Ogre::Vector3 point) [virtual]

Point the camera at the specified point.

Parameters:
pointThe point to look at

Implements rviz::CameraBase.

Definition at line 252 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftDown ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 314 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftDrag ( int  diff_x,
int  diff_y,
bool  ctrl,
bool  alt,
bool  shift 
) [virtual]

Handle a left mouse button drag.

Parameters:
diff_xPixels the mouse has moved in the (window space) x direction
diff_yPixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 272 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseLeftUp ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 329 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleDown ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 319 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleDrag ( int  diff_x,
int  diff_y,
bool  ctrl,
bool  alt,
bool  shift 
) [virtual]

Handle a middle mouse button drag.

Parameters:
diff_xPixels the mouse has moved in the (window space) x direction
diff_yPixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 278 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseMiddleUp ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 334 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightDown ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 324 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightDrag ( int  diff_x,
int  diff_y,
bool  ctrl,
bool  alt,
bool  shift 
) [virtual]

Handle a right mouse button drag.

Parameters:
diff_xPixels the mouse has moved in the (window space) x direction
diff_yPixels the mouse has moved in the (window space) y direction

Implements rviz::CameraBase.

Definition at line 290 of file orbit_camera.cpp.

void rviz::OrbitCamera::mouseRightUp ( int  x,
int  y 
) [virtual]

Reimplemented from rviz::CameraBase.

Definition at line 339 of file orbit_camera.cpp.

void rviz::OrbitCamera::move ( float  x,
float  y,
float  z 
) [virtual]

Move the camera relative to its orientation.

Parameters:
xDistance to move along the X-axis
yDistance to move along the Y-axis
zDistance to move along the Z-axis

Implements rviz::CameraBase.

Definition at line 228 of file orbit_camera.cpp.

Normalizes the camera's pitch, preventing it from reaching vertical (or turning upside down)

Definition at line 73 of file orbit_camera.cpp.

void rviz::OrbitCamera::normalizeYaw ( ) [private]

Normalizes the camera's yaw in the range [0, 2*pi)

Definition at line 85 of file orbit_camera.cpp.

void rviz::OrbitCamera::pitch ( float  angle) [virtual]

Pitch the camera.

Calls to pitch are cumulative, so: pitch(PI); pitch(PI);

is equivalent to pitch(2*PI);

Parameters:
angleAngle to pitch, in radians

Implements rviz::CameraBase.

Definition at line 140 of file orbit_camera.cpp.

void rviz::OrbitCamera::roll ( float  angle) [virtual]

Roll the camera.

Calls to roll are cumulative, so: roll(PI); roll(PI);

is equivalent to roll(2*PI);

Parameters:
angleAngle to roll, in radians

Implements rviz::CameraBase.

Definition at line 149 of file orbit_camera.cpp.

void rviz::OrbitCamera::scrollWheel ( int  diff,
bool  ctrl,
bool  alt,
bool  shift 
) [virtual]

Handle a scrollwheel change.

Parameters:
diffNumber of "units" the scrollwheel has moved
Todo:
Probably need to pass in how many units there are in a "click" of the wheel

Implements rviz::CameraBase.

Definition at line 302 of file orbit_camera.cpp.

void rviz::OrbitCamera::setFocalPoint ( const Ogre::Vector3 focal_point)

Set the focal point of the camera. Keeps the pitch/yaw/distance the same.

Parameters:
focal_pointThe new focal point

Definition at line 221 of file orbit_camera.cpp.

void rviz::OrbitCamera::setFrom ( CameraBase camera) [virtual]

Set the position/orientation of this camera from another camera.

Parameters:
cameraThe camera to set from

Implements rviz::CameraBase.

Definition at line 183 of file orbit_camera.cpp.

void rviz::OrbitCamera::setOrientation ( float  x,
float  y,
float  z,
float  w 
) [virtual]

Set the orientation of the camera from a quaternion.

Implements rviz::CameraBase.

Definition at line 196 of file orbit_camera.cpp.

void rviz::OrbitCamera::setPosition ( float  x,
float  y,
float  z 
) [virtual]

Set the position of the camera.

Implements rviz::CameraBase.

Definition at line 242 of file orbit_camera.cpp.

std::string rviz::OrbitCamera::toString ( ) [virtual]

Returns a string representation of the camera's configuration.

Implements rviz::CameraBase.

Definition at line 363 of file orbit_camera.cpp.

void rviz::OrbitCamera::update ( ) [virtual]

Calculates the camera's position and orientation from the yaw, pitch, distance and focal point.

Implements rviz::CameraBase.

Definition at line 107 of file orbit_camera.cpp.

void rviz::OrbitCamera::yaw ( float  angle) [virtual]

Yaw the camera.

Calls to yaw are cumulative, so: yaw(PI); yaw(PI);

is equivalent to yaw(2*PI);

Parameters:
angleAngle to yaw, in radians

Implements rviz::CameraBase.

Definition at line 131 of file orbit_camera.cpp.

void rviz::OrbitCamera::zoom ( float  amount)

Move in/out from the focal point, ie. adjust distance_ by amount.

Parameters:
amountThe distance to move. Positive amount moves towards the focal point, negative moves away

Definition at line 209 of file orbit_camera.cpp.


Member Data Documentation

The camera's distance from the focal point.

Definition at line 138 of file orbit_camera.h.

The camera's focal point.

Definition at line 135 of file orbit_camera.h.

Definition at line 140 of file orbit_camera.h.

float rviz::OrbitCamera::pitch_ [private]

The camera's pitch (rotation around the x-axis), in radians.

Definition at line 137 of file orbit_camera.h.

float rviz::OrbitCamera::yaw_ [private]

The camera's yaw (rotation around the y-axis), in radians.

Definition at line 136 of file orbit_camera.h.


The documentation for this class was generated from the following files:


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust
autogenerated on Thu Jun 6 2019 18:02:17